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Fig. 7 | Autonomous Robots

Fig. 7

From: A feasibility-driven approach to control-limited DDP

Fig. 7

Snapshots of hardware experiments using Box-FDDP on the ANYmal C quadruped: Here, the robot completes a trotting gait in a model predictive control fashion. Our method is able to resolve the optimal control problem for a 1.25 s horizon in \(\approx \)10 ms on laptop hardware. The top figure shows snapshots of the ANYmal robot trotting forward, while the bottom figure displays the measured and desired contact forces and reference swing trajectories sent to the controller. To watch the video, click on the figure or see https://youtu.be/bOGBPTh_lsU. For more details about the predictive control algorithm, please refer to Mastalli et al. (2022)(Color figure online)

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